Implement yaw rotation during static phase + Try to fix issue when returning to trot then switching back to static again

Continue work on C++ control + Rework joystick to full c++ + Tweak joystick values + Automatic switch to 4 stance + Position control by joystick

Support START button for the gamepad, implement put_on_the_floor function, debug, switch to real interface

Add possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of debug output in QP WBC

Define footsteps_under_shoulders as initial position of footsteps instead of being the vertical of the shoulders